• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.11
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• pp.6863-6869
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• 2014

A SMT machine is used to place electronic components on a PCB precisely. To place it precisely, after a component inspection, it finds an offset value using a vision camera, and places the precise position on the PCB. In general, to inspect the components with a vision camera, the components stop in front of the camera for inspection, then move to the placement position. On the other hand, if they do not stop in front of a camera, the inspection time will be shortened and the productivity would be increased. In this thesis, when inspecting without stopping in front of a camera, the fastest way among various routes is described. For the gantry passing over a vision camera, both the distance and speed of a gantry moving trajectory were studied, and there was approximately 5% speed increment when using the method suggested in this thesis.

• Journal of Broadcast Engineering
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• v.17 no.6
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• pp.1040-1047
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• 2012

In this paper, we propose a ball tracking algorithm robust against occlusion in broadcasting soccer video sequences. Soccer ball tracking is a challenging task due to occlusion, fast motion and fast direction changes. Many works have been proposed based on ball trajectory. However, this approach requires heavy computational complexity. We propose a ball tracking algorithm with occlusion handling capability. Initial ball location is calculated using the circular hough transform. Then, the ball is tracked using template matching. Occlusion is handled by matching score. In occlusion cases, we generate a set of ball candidates. The ball candidates which exist in the previous frame were removed. On the other hand, the new appearing candidate is determined as the ball. Experiments with several broadcasting soccer video sequences show that the proposed method efficiently handles the occlusion cases.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• Advances in aircraft and spacecraft science
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• v.2 no.2
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• pp.125-168
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• 2015

Dynamic aeroelastic behavior of structurally nonlinear Joined Wings is presented. Three configurations, two characterized by a different location of the joint and one presenting a direct connection between the two wings (SensorCraft-like layout) are investigated. The snap-divergence is studied from a dynamic perspective in order to assess the real response of the configuration. The investigations also focus on the flutter occurrence (critical state) and postcritical phenomena. Limit Cycle Oscillations (LCOs) are observed, possibly followed by a loss of periodicity of the solution as speed is further increased. In some cases, it is also possible to ascertain the presence of period doubling (flip-) bifurcations. Differences between flutter (Hopf's bifurcation) speed evaluated with linear and nonlinear analyses are discussed in depth in order to understand if a linear (and thus computationally less intense) representation provides an acceptable estimate of the instability properties. Both frequency- and time-domain approaches are compared. Moreover, aerodynamic solvers based on the potential flow are critically examined. In particular, it is assessed in what measure more sophisticated aerodynamic and interface models impact the aeroelastic predictions. When the use of the tools gives different results, a physical interpretation of the leading mechanism generating the mismatch is provided. In particular, for PrandtlPlane-like configurations the aeroelastic response is very sensitive to the wake's shape. As a consequence, it is suggested that a more sophisticate modeling of the wake positively impacts the reliability of aerodynamic and aeroelastic analysis. For SensorCraft-like configurations some LCOs are characterized by a non-synchronous motion of the inner and outer portion of the lower wing: the wing's tip exhibits a small oscillation during the descending or ascending phase, whereas the mid-span station describes a sinusoidal-like trajectory in the time-domain.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.8 no.1
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• pp.43-50
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• 2010

Purpose : The objective of this study is to effect of an aquatic rotation control and obstacle avoidance when conducted underwater on hemiplegia patient's balance ability and vestibular function. Methods : Twelve hemiplegia patients participated and were randomly assigned to a control group(I) with standard physical therapy and an aquatic group(II) with an aquatic rotation control, obstacle avoidance and standard physical therapy as well. The aquatic group trained using a Halliwick rotation control and obstacle avoidance through 3 times per week over 6 weeks. For all subjects, vestibular function, their balance, the change of electrooculogram (EOG), the change of accelerometer axis and torsiometer according to visual sense, vestibular sense with galvanic vestibular stimulation (GVS) or not during leg close stance were measured. Results : The EOG in the vertical and horizontal (p<0.05) were both significantly lowered. The change was significantly lower in the trajectory range of motion of trunk and spine with torsiometer when leg close stand (p<0.01) and leg close stand with GVS (p<0.01). The centre of gravity accelerated, there were reduced significantly difference X and Y axis of accelerometer during the closing of the leg without vision (p<0.05). There were reduced significantly difference X and Z axis of accelerometer during the closing of the leg with GVS (p<0.05). There were reduced significantly difference X and Z axis of accelerometer during the closing of the leg and close eyes with GVS (p<0.05). Conclusion : The balance ability, vestibular system and postural control is improved.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.1
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• pp.47-55
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• 2012

This paper describes the developed HILS and test equipment in order to test the performances of MMW(Millimeter-Wave) seeker which can detect and track a high speed of short-range ballistic missile and aircraft. This system is used to 141 horn antenna array, array switching, and gain and phase control algorithm to simulate various kind of targets and trajectory of high speed and maneuver moving target. In addition, it simulates not only velocity and range for these targets but also clutter and jamming environments. System configuration and implementation and the measurement results of major subsystems such as target motion simulator, simulation signal generator, high speed data aquisition unit, and central control unit are presented. These systems could verify the detection and tracking performance of MMW seeker through dynamic real-time test based on simulation flight scenario.

• Journal of the Korean earth science society
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• v.30 no.5
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• pp.529-549
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• 2009

In 2007, just after the recession of the Changma, anomalously long rainy period (from July 30 to August 15) occurred in Korea. To identify the cause of the sustained rainy period, we performed synoptic analysis and the associated air motions. The behavior of each air parcel trajectory associated with atmospheric motion was then investigated. As a result, three particular phenomena occurring at latitudes lower than $40^{\circ}N$ were discovered. First, a mass of relatively cold air, referred to as E, made a deep intrusion from $20^{\circ}N$ to $60^{\circ}N$. Second, this intrusion was accompanied by another mass of air called dE. It was colder and drier than E and originated from the mid-troposphere over the tropical ocean. Third, dE and E rotated clockwise three times over a period of 17 days over the Northwestern Pacific and blocked the westerly waves imbedded in the zonal flow from propagating. Two additional phenomena were observed at latitudes higher than $40^{\circ}N$. First, the cold core system, while approaching from the west with low geopotential values at its center, was stagnated over Shanxi China. It enhanced the northward intrusion of dE and E, and then diminished. The subsequent low system showed similar evolution as the first one. Second, a warm core anticyclone was formed over Lake Baikal, blocking the westerlies for 13 days and contributed to the persistent northward incursion of warm moist air. Moreover, a horizontally extended intrusion of upper level clouds from the tropics to $50^{\circ}N$, which may be interpreted as a tropical plume, was found around the end of the period (from August 12 to 15, 2007) with successive tropical nights over Korea.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.20 no.8
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• pp.526-533
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• 2008

In this study, theoretical super screen vibration analysis has been carried out to predict the dynamic characteristics of interactive waste particles. In order to approach these problems, it is necessary to have a fundamental understanding the screening process and the process of both the remaining and the passed material on a screen with several interacting screen planes based on Soldinger(1999) was discussed. Here, the vibrating screen is composed of three assemblies such as screen, wastes guide, and supported screen as shown in Fig. 1. This model is regarded vibrator as the system of screen fixed tilt plates. Then materials(or particles) of different size is to be separated by using the eccentric vibrator and classifying tilt plates. As well moisturized construction wastes is more efficient to separate than moisture-less it. In processing separate mechanism, the more materials is light, the more staying time is long. Thus much lighter construction wastes(wood, Styrofoam, etc) and heavier materials are separated by staying time delay in a super screen. The design results, separation screen were able to know that small and larger particles are conspicuous difference each motion character according to trajectory particles, and small particles raise the probability in classifying tilt plates.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.702-715
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• 1990

This paper describes behaviors of two-phase open channel flow inside the flash chamber of a horizontal Multi-Stage-Flash evaporator numerically along with the experimental observations. Bubble trajectories and the velocity and temperature distributions of the liquid phase were predicted by using the particle-source-in-cell(PSI-Cell) method with the appropriate bubble motion/growth equations. Size and number of bubble nuclei embedded in the incoming liquid(brine) were taken into account as important parameters in addition to the conventional ones such as the velocity, degree of inlet superheat, inlet opening height, and the liquid level. Bubble motions, which are unsteady, appeared to be mostly determined by the buoyancy and the drag forces. The calculations, though a number of simplifying assumptions were made, reasonably simulated the hydrodynamic behaviors of the two-phase horizontal stream observed in the experiments. The simulated temperature distributions also agreed fairly well with the other's measurements. Non-equilibrium allownaces, evaluated from the simulated temperature distributions, were within the range of those obtained from the existing correlations, and reduced with the increases of the number and size of incoming bubble nuclei due to vigorous flashing.

• Journal of the Ergonomics Society of Korea
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• v.6 no.2
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.